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<FONT color="green">001</FONT>    package maze.gui;<a name="line.1"></a>
<FONT color="green">002</FONT>    <a name="line.2"></a>
<FONT color="green">003</FONT>    import java.awt.Point;<a name="line.3"></a>
<FONT color="green">004</FONT>    <a name="line.4"></a>
<FONT color="green">005</FONT>    import javax.swing.JOptionPane;<a name="line.5"></a>
<FONT color="green">006</FONT>    <a name="line.6"></a>
<FONT color="green">007</FONT>    import maze.Main;<a name="line.7"></a>
<FONT color="green">008</FONT>    import maze.ai.RobotBase;<a name="line.8"></a>
<FONT color="green">009</FONT>    import maze.ai.RobotController;<a name="line.9"></a>
<FONT color="green">010</FONT>    import maze.model.Direction;<a name="line.10"></a>
<FONT color="green">011</FONT>    import maze.model.RobotModelMaster;<a name="line.11"></a>
<FONT color="green">012</FONT>    <a name="line.12"></a>
<FONT color="green">013</FONT>    /**<a name="line.13"></a>
<FONT color="green">014</FONT>     * Animates a MicroMouse robot against a maze view.<a name="line.14"></a>
<FONT color="green">015</FONT>     * @author Luke Last<a name="line.15"></a>
<FONT color="green">016</FONT>     */<a name="line.16"></a>
<FONT color="green">017</FONT>    public final class RobotAnimator implements Runnable<a name="line.17"></a>
<FONT color="green">018</FONT>    {<a name="line.18"></a>
<FONT color="green">019</FONT>       /**<a name="line.19"></a>
<FONT color="green">020</FONT>        * the maze view that this animator is attached to and updates with each<a name="line.20"></a>
<FONT color="green">021</FONT>        * animation frame.<a name="line.21"></a>
<FONT color="green">022</FONT>        */<a name="line.22"></a>
<FONT color="green">023</FONT>       private MazeView view;<a name="line.23"></a>
<FONT color="green">024</FONT>       /**<a name="line.24"></a>
<FONT color="green">025</FONT>        * The controller used to simulate the AI algorithm.<a name="line.25"></a>
<FONT color="green">026</FONT>        */<a name="line.26"></a>
<FONT color="green">027</FONT>       private RobotController robot;<a name="line.27"></a>
<FONT color="green">028</FONT>       /**<a name="line.28"></a>
<FONT color="green">029</FONT>        * The state that this animator is currently in.<a name="line.29"></a>
<FONT color="green">030</FONT>        */<a name="line.30"></a>
<FONT color="green">031</FONT>       private volatile AnimationStates currentState = AnimationStates.Stopped;<a name="line.31"></a>
<FONT color="green">032</FONT>       /**<a name="line.32"></a>
<FONT color="green">033</FONT>        * A call back method which is run after the animator is stopped.<a name="line.33"></a>
<FONT color="green">034</FONT>        */<a name="line.34"></a>
<FONT color="green">035</FONT>       private Runnable finishedCallback;<a name="line.35"></a>
<FONT color="green">036</FONT>       /**<a name="line.36"></a>
<FONT color="green">037</FONT>        * The time to sleep between rendering frames.<a name="line.37"></a>
<FONT color="green">038</FONT>        */<a name="line.38"></a>
<FONT color="green">039</FONT>       private int sleepTime = 1000 / 50;<a name="line.39"></a>
<FONT color="green">040</FONT>    <a name="line.40"></a>
<FONT color="green">041</FONT>       /**<a name="line.41"></a>
<FONT color="green">042</FONT>        * Number of frames of animation to display between steps.<a name="line.42"></a>
<FONT color="green">043</FONT>        */<a name="line.43"></a>
<FONT color="green">044</FONT>       private int movesPerStep = 10;<a name="line.44"></a>
<FONT color="green">045</FONT>    <a name="line.45"></a>
<FONT color="green">046</FONT>       /**<a name="line.46"></a>
<FONT color="green">047</FONT>        * The thread running our animation loop.<a name="line.47"></a>
<FONT color="green">048</FONT>        */<a name="line.48"></a>
<FONT color="green">049</FONT>       private Thread processingThread;<a name="line.49"></a>
<FONT color="green">050</FONT>    <a name="line.50"></a>
<FONT color="green">051</FONT>       /**<a name="line.51"></a>
<FONT color="green">052</FONT>        * Start and initialize this.<a name="line.52"></a>
<FONT color="green">053</FONT>        * @param mazeView The view to be controlled by this animator.<a name="line.53"></a>
<FONT color="green">054</FONT>        * @param robotAlgorithm The AI algorithm to use for the animation.<a name="line.54"></a>
<FONT color="green">055</FONT>        * @param finishedCallback This is called after the animation is stopped.<a name="line.55"></a>
<FONT color="green">056</FONT>        */<a name="line.56"></a>
<FONT color="green">057</FONT>       public void start(MazeView mazeView, RobotBase robotAlgorithm, Runnable finishedCallback)<a name="line.57"></a>
<FONT color="green">058</FONT>       {<a name="line.58"></a>
<FONT color="green">059</FONT>          if (this.processingThread != null &amp;&amp; this.processingThread.isAlive())<a name="line.59"></a>
<FONT color="green">060</FONT>          {<a name="line.60"></a>
<FONT color="green">061</FONT>             this.setState(AnimationStates.Stopped);<a name="line.61"></a>
<FONT color="green">062</FONT>             //Make sure the thread is finished before continuing.<a name="line.62"></a>
<FONT color="green">063</FONT>             try<a name="line.63"></a>
<FONT color="green">064</FONT>             {<a name="line.64"></a>
<FONT color="green">065</FONT>                this.processingThread.join();<a name="line.65"></a>
<FONT color="green">066</FONT>             }<a name="line.66"></a>
<FONT color="green">067</FONT>             catch (InterruptedException e)<a name="line.67"></a>
<FONT color="green">068</FONT>             {<a name="line.68"></a>
<FONT color="green">069</FONT>                e.printStackTrace();<a name="line.69"></a>
<FONT color="green">070</FONT>             }<a name="line.70"></a>
<FONT color="green">071</FONT>          }<a name="line.71"></a>
<FONT color="green">072</FONT>          this.view = mazeView;<a name="line.72"></a>
<FONT color="green">073</FONT>          this.finishedCallback = finishedCallback;<a name="line.73"></a>
<FONT color="green">074</FONT>          this.robot = new RobotController(this.view.getModel(), robotAlgorithm);<a name="line.74"></a>
<FONT color="green">075</FONT>          this.processingThread = new Thread(this, "Robot Animator");<a name="line.75"></a>
<FONT color="green">076</FONT>          this.processingThread.setDaemon(true);<a name="line.76"></a>
<FONT color="green">077</FONT>          this.currentState = AnimationStates.Running;<a name="line.77"></a>
<FONT color="green">078</FONT>          this.processingThread.start();<a name="line.78"></a>
<FONT color="green">079</FONT>       }<a name="line.79"></a>
<FONT color="green">080</FONT>    <a name="line.80"></a>
<FONT color="green">081</FONT>       /**<a name="line.81"></a>
<FONT color="green">082</FONT>        * This runs in a background thread and handles the animation loop.<a name="line.82"></a>
<FONT color="green">083</FONT>        */<a name="line.83"></a>
<FONT color="green">084</FONT>       @Override<a name="line.84"></a>
<FONT color="green">085</FONT>       public void run()<a name="line.85"></a>
<FONT color="green">086</FONT>       {<a name="line.86"></a>
<FONT color="green">087</FONT>          final RobotModelMaster model = this.robot.getRobotModelMaster();<a name="line.87"></a>
<FONT color="green">088</FONT>          this.view.setRobotPosition(this.view.getCellCenterInner(model.getCurrentLocation()),<a name="line.88"></a>
<FONT color="green">089</FONT>                                     model.getDirection().getRadians());<a name="line.89"></a>
<FONT color="green">090</FONT>          this.view.invalidateAllCells();<a name="line.90"></a>
<FONT color="green">091</FONT>          this.view.setRobotPathModel(model.getRobotPathModel());<a name="line.91"></a>
<FONT color="green">092</FONT>          this.setViewAttributes();<a name="line.92"></a>
<FONT color="green">093</FONT>          while (this.currentState != AnimationStates.Stopped &amp;&amp; this.robot.isRobotDone() == false)<a name="line.93"></a>
<FONT color="green">094</FONT>          {<a name="line.94"></a>
<FONT color="green">095</FONT>             try<a name="line.95"></a>
<FONT color="green">096</FONT>             {<a name="line.96"></a>
<FONT color="green">097</FONT>                //Get the robots current position.<a name="line.97"></a>
<FONT color="green">098</FONT>                final Point srcLocation = this.view.getCellCenterInner(model.getCurrentLocation());<a name="line.98"></a>
<FONT color="green">099</FONT>                final Direction srcDirection = model.getDirection();<a name="line.99"></a>
<FONT color="green">100</FONT>                final double srcRotation = srcDirection.getRadians();<a name="line.100"></a>
<FONT color="green">101</FONT>    <a name="line.101"></a>
<FONT color="green">102</FONT>                robot.nextStep(); //Move robot.<a name="line.102"></a>
<FONT color="green">103</FONT>    <a name="line.103"></a>
<FONT color="green">104</FONT>                //Get the robots new position.<a name="line.104"></a>
<FONT color="green">105</FONT>                final Point destLocation = this.view.getCellCenterInner(model.getCurrentLocation());<a name="line.105"></a>
<FONT color="green">106</FONT>                final Direction destDirection = model.getDirection();<a name="line.106"></a>
<FONT color="green">107</FONT>                //Set our new rotation based on which way we turned.<a name="line.107"></a>
<FONT color="green">108</FONT>                final double destRotation;<a name="line.108"></a>
<FONT color="green">109</FONT>                if (srcDirection.getLeft() == destDirection)<a name="line.109"></a>
<FONT color="green">110</FONT>                   destRotation = srcRotation - Math.PI / 2;<a name="line.110"></a>
<FONT color="green">111</FONT>                else if (srcDirection.getRight() == destDirection)<a name="line.111"></a>
<FONT color="green">112</FONT>                   destRotation = srcRotation + Math.PI / 2;<a name="line.112"></a>
<FONT color="green">113</FONT>                else<a name="line.113"></a>
<FONT color="green">114</FONT>                   destRotation = srcRotation; //Didn't rotate.<a name="line.114"></a>
<FONT color="green">115</FONT>    <a name="line.115"></a>
<FONT color="green">116</FONT>                final int acceleration = 4 / this.movesPerStep;<a name="line.116"></a>
<FONT color="green">117</FONT>                int velocity = acceleration;<a name="line.117"></a>
<FONT color="green">118</FONT>    <a name="line.118"></a>
<FONT color="green">119</FONT>                double rotationPercentage = 0;<a name="line.119"></a>
<FONT color="green">120</FONT>    <a name="line.120"></a>
<FONT color="green">121</FONT>                //Increment is fraction at a time to the destination position.<a name="line.121"></a>
<FONT color="green">122</FONT>                for (int inc = 1; inc &lt;= this.movesPerStep; inc++)<a name="line.122"></a>
<FONT color="green">123</FONT>                {<a name="line.123"></a>
<FONT color="green">124</FONT>                   final double percentage = (double) inc / this.movesPerStep;<a name="line.124"></a>
<FONT color="green">125</FONT>                   int x = (int) (srcLocation.x + (destLocation.x - srcLocation.x) * percentage);<a name="line.125"></a>
<FONT color="green">126</FONT>                   int y = (int) (srcLocation.y + (destLocation.y - srcLocation.y) * percentage);<a name="line.126"></a>
<FONT color="green">127</FONT>                   // Are in the first half acceleration phase.<a name="line.127"></a>
<FONT color="green">128</FONT>                   if (inc &lt; this.movesPerStep / 2)<a name="line.128"></a>
<FONT color="green">129</FONT>                   {<a name="line.129"></a>
<FONT color="green">130</FONT>                      rotationPercentage += velocity;<a name="line.130"></a>
<FONT color="green">131</FONT>                      velocity += acceleration;<a name="line.131"></a>
<FONT color="green">132</FONT>                      rotationPercentage = inc * (4 / (double) inc) / 2;<a name="line.132"></a>
<FONT color="green">133</FONT>                   }<a name="line.133"></a>
<FONT color="green">134</FONT>                   else<a name="line.134"></a>
<FONT color="green">135</FONT>                   {<a name="line.135"></a>
<FONT color="green">136</FONT>                      rotationPercentage -= velocity;<a name="line.136"></a>
<FONT color="green">137</FONT>                      velocity -= acceleration;<a name="line.137"></a>
<FONT color="green">138</FONT>                   }<a name="line.138"></a>
<FONT color="green">139</FONT>                   double rot = srcRotation +<a name="line.139"></a>
<FONT color="green">140</FONT>                                (destRotation - srcRotation) *<a name="line.140"></a>
<FONT color="green">141</FONT>                                this.accelerationTransform(percentage);<a name="line.141"></a>
<FONT color="green">142</FONT>                   this.view.setRobotPosition(new Point(x, y), rot);<a name="line.142"></a>
<FONT color="green">143</FONT>                   Thread.sleep(this.sleepTime);<a name="line.143"></a>
<FONT color="green">144</FONT>                }<a name="line.144"></a>
<FONT color="green">145</FONT>    <a name="line.145"></a>
<FONT color="green">146</FONT>                this.setViewAttributes();<a name="line.146"></a>
<FONT color="green">147</FONT>    <a name="line.147"></a>
<FONT color="green">148</FONT>                while (this.currentState == AnimationStates.Paused)<a name="line.148"></a>
<FONT color="green">149</FONT>                {<a name="line.149"></a>
<FONT color="green">150</FONT>                   Thread.sleep(100);<a name="line.150"></a>
<FONT color="green">151</FONT>                }<a name="line.151"></a>
<FONT color="green">152</FONT>             }<a name="line.152"></a>
<FONT color="green">153</FONT>             catch (InterruptedException e)<a name="line.153"></a>
<FONT color="green">154</FONT>             {<a name="line.154"></a>
<FONT color="green">155</FONT>                // Means the thread is being shutdown.<a name="line.155"></a>
<FONT color="green">156</FONT>             }<a name="line.156"></a>
<FONT color="green">157</FONT>             catch (Exception e)<a name="line.157"></a>
<FONT color="green">158</FONT>             {<a name="line.158"></a>
<FONT color="green">159</FONT>                e.printStackTrace();<a name="line.159"></a>
<FONT color="green">160</FONT>                JOptionPane.showMessageDialog(Main.getPrimaryFrameInstance(),<a name="line.160"></a>
<FONT color="green">161</FONT>                                              e.getMessage(),<a name="line.161"></a>
<FONT color="green">162</FONT>                                              "Error",<a name="line.162"></a>
<FONT color="green">163</FONT>                                              JOptionPane.ERROR_MESSAGE,<a name="line.163"></a>
<FONT color="green">164</FONT>                                              null);<a name="line.164"></a>
<FONT color="green">165</FONT>                this.currentState = AnimationStates.Stopped;<a name="line.165"></a>
<FONT color="green">166</FONT>             }<a name="line.166"></a>
<FONT color="green">167</FONT>          }<a name="line.167"></a>
<FONT color="green">168</FONT>          this.view.setRobotPathModel(null);<a name="line.168"></a>
<FONT color="green">169</FONT>          this.view.loadUnderstanding(null);<a name="line.169"></a>
<FONT color="green">170</FONT>          this.view.loadUnderstandingDir(null);<a name="line.170"></a>
<FONT color="green">171</FONT>          if (this.finishedCallback != null)<a name="line.171"></a>
<FONT color="green">172</FONT>          {<a name="line.172"></a>
<FONT color="green">173</FONT>             this.finishedCallback.run();<a name="line.173"></a>
<FONT color="green">174</FONT>          }<a name="line.174"></a>
<FONT color="green">175</FONT>          this.processingThread = null;<a name="line.175"></a>
<FONT color="green">176</FONT>       }<a name="line.176"></a>
<FONT color="green">177</FONT>    <a name="line.177"></a>
<FONT color="green">178</FONT>       /**<a name="line.178"></a>
<FONT color="green">179</FONT>        * Transforms one fraction into another in a non-linear fashion to provide<a name="line.179"></a>
<FONT color="green">180</FONT>        * for acceleration and the deceleration. If the input is a linear sequence<a name="line.180"></a>
<FONT color="green">181</FONT>        * the output will be a sequence that accelerates from 0 to .5 and the<a name="line.181"></a>
<FONT color="green">182</FONT>        * decelerates from .5 to 1.<a name="line.182"></a>
<FONT color="green">183</FONT>        * @param input A value between 0 and 1.<a name="line.183"></a>
<FONT color="green">184</FONT>        * @return A transformed value between 0 and 1.<a name="line.184"></a>
<FONT color="green">185</FONT>        */<a name="line.185"></a>
<FONT color="green">186</FONT>       private double accelerationTransform(double input)<a name="line.186"></a>
<FONT color="green">187</FONT>       {<a name="line.187"></a>
<FONT color="green">188</FONT>          double result = 0;<a name="line.188"></a>
<FONT color="green">189</FONT>          if (input &lt; .5)<a name="line.189"></a>
<FONT color="green">190</FONT>          {<a name="line.190"></a>
<FONT color="green">191</FONT>             result = input * input * 2;<a name="line.191"></a>
<FONT color="green">192</FONT>          }<a name="line.192"></a>
<FONT color="green">193</FONT>          else<a name="line.193"></a>
<FONT color="green">194</FONT>          {<a name="line.194"></a>
<FONT color="green">195</FONT>             result = .5 + (input - .5) * (2.5 - input);<a name="line.195"></a>
<FONT color="green">196</FONT>          }<a name="line.196"></a>
<FONT color="green">197</FONT>          // Make sure the result is between 0 and 1.<a name="line.197"></a>
<FONT color="green">198</FONT>          result = (result &gt; 1.0) ? 1.0 : result;<a name="line.198"></a>
<FONT color="green">199</FONT>          result = (result &lt; 0) ? 0 : result;<a name="line.199"></a>
<FONT color="green">200</FONT>          return result;<a name="line.200"></a>
<FONT color="green">201</FONT>       }<a name="line.201"></a>
<FONT color="green">202</FONT>    <a name="line.202"></a>
<FONT color="green">203</FONT>       /**<a name="line.203"></a>
<FONT color="green">204</FONT>        * Loads information from the AI algorithm in the controller to the view for<a name="line.204"></a>
<FONT color="green">205</FONT>        * drawing.<a name="line.205"></a>
<FONT color="green">206</FONT>        */<a name="line.206"></a>
<FONT color="green">207</FONT>       private void setViewAttributes()<a name="line.207"></a>
<FONT color="green">208</FONT>       {<a name="line.208"></a>
<FONT color="green">209</FONT>          this.view.loadUnderstanding(this.robot.getUnderstandingInt());<a name="line.209"></a>
<FONT color="green">210</FONT>          this.view.loadUnderstandingDir(this.robot.getUnderstandingDir());<a name="line.210"></a>
<FONT color="green">211</FONT>       }<a name="line.211"></a>
<FONT color="green">212</FONT>    <a name="line.212"></a>
<FONT color="green">213</FONT>       /**<a name="line.213"></a>
<FONT color="green">214</FONT>        * Get the current state that this robot animator is in.<a name="line.214"></a>
<FONT color="green">215</FONT>        */<a name="line.215"></a>
<FONT color="green">216</FONT>       public AnimationStates getState()<a name="line.216"></a>
<FONT color="green">217</FONT>       {<a name="line.217"></a>
<FONT color="green">218</FONT>          return this.currentState;<a name="line.218"></a>
<FONT color="green">219</FONT>       }<a name="line.219"></a>
<FONT color="green">220</FONT>    <a name="line.220"></a>
<FONT color="green">221</FONT>       /**<a name="line.221"></a>
<FONT color="green">222</FONT>        * Change the state of this robot animator. If the current state is<a name="line.222"></a>
<FONT color="green">223</FONT>        * &lt;code&gt;Stopped&lt;/code&gt; you cannot change it here, you must use the<a name="line.223"></a>
<FONT color="green">224</FONT>        * &lt;code&gt;start(...)&lt;/code&gt; method.<a name="line.224"></a>
<FONT color="green">225</FONT>        * @param state The new state you want to go to.<a name="line.225"></a>
<FONT color="green">226</FONT>        */<a name="line.226"></a>
<FONT color="green">227</FONT>       public void setState(final AnimationStates state)<a name="line.227"></a>
<FONT color="green">228</FONT>       {<a name="line.228"></a>
<FONT color="green">229</FONT>          if (this.currentState != AnimationStates.Stopped)<a name="line.229"></a>
<FONT color="green">230</FONT>          {<a name="line.230"></a>
<FONT color="green">231</FONT>             this.currentState = state;<a name="line.231"></a>
<FONT color="green">232</FONT>             if (state == AnimationStates.Stopped &amp;&amp; this.processingThread != null)<a name="line.232"></a>
<FONT color="green">233</FONT>             {<a name="line.233"></a>
<FONT color="green">234</FONT>                this.processingThread.interrupt();<a name="line.234"></a>
<FONT color="green">235</FONT>             }<a name="line.235"></a>
<FONT color="green">236</FONT>          }<a name="line.236"></a>
<FONT color="green">237</FONT>       }<a name="line.237"></a>
<FONT color="green">238</FONT>    <a name="line.238"></a>
<FONT color="green">239</FONT>       /**<a name="line.239"></a>
<FONT color="green">240</FONT>        * The maximum frames per second this animator is trying to put out.<a name="line.240"></a>
<FONT color="green">241</FONT>        * @return FPS<a name="line.241"></a>
<FONT color="green">242</FONT>        */<a name="line.242"></a>
<FONT color="green">243</FONT>       public int getFPS()<a name="line.243"></a>
<FONT color="green">244</FONT>       {<a name="line.244"></a>
<FONT color="green">245</FONT>          return 1000 / this.sleepTime;<a name="line.245"></a>
<FONT color="green">246</FONT>       }<a name="line.246"></a>
<FONT color="green">247</FONT>    <a name="line.247"></a>
<FONT color="green">248</FONT>       /**<a name="line.248"></a>
<FONT color="green">249</FONT>        * The animator will try and render at most this many frames per second.<a name="line.249"></a>
<FONT color="green">250</FONT>        */<a name="line.250"></a>
<FONT color="green">251</FONT>       public void setFPS(int framesPerSecond)<a name="line.251"></a>
<FONT color="green">252</FONT>       {<a name="line.252"></a>
<FONT color="green">253</FONT>          this.sleepTime = 1000 / framesPerSecond;<a name="line.253"></a>
<FONT color="green">254</FONT>       }<a name="line.254"></a>
<FONT color="green">255</FONT>    <a name="line.255"></a>
<FONT color="green">256</FONT>       /**<a name="line.256"></a>
<FONT color="green">257</FONT>        * Get the number of intermediate frames of animation that take place between<a name="line.257"></a>
<FONT color="green">258</FONT>        * each step of the robot.<a name="line.258"></a>
<FONT color="green">259</FONT>        */<a name="line.259"></a>
<FONT color="green">260</FONT>       public int getMovesPerStep()<a name="line.260"></a>
<FONT color="green">261</FONT>       {<a name="line.261"></a>
<FONT color="green">262</FONT>          return movesPerStep;<a name="line.262"></a>
<FONT color="green">263</FONT>       }<a name="line.263"></a>
<FONT color="green">264</FONT>    <a name="line.264"></a>
<FONT color="green">265</FONT>       public void setMovesPerStep(int movesPerStep)<a name="line.265"></a>
<FONT color="green">266</FONT>       {<a name="line.266"></a>
<FONT color="green">267</FONT>          if (movesPerStep &lt; 1)<a name="line.267"></a>
<FONT color="green">268</FONT>             this.movesPerStep = 1;<a name="line.268"></a>
<FONT color="green">269</FONT>          else<a name="line.269"></a>
<FONT color="green">270</FONT>             this.movesPerStep = movesPerStep;<a name="line.270"></a>
<FONT color="green">271</FONT>       }<a name="line.271"></a>
<FONT color="green">272</FONT>    <a name="line.272"></a>
<FONT color="green">273</FONT>       /**<a name="line.273"></a>
<FONT color="green">274</FONT>        * Represents the possible states that a robot animator can be in.<a name="line.274"></a>
<FONT color="green">275</FONT>        */<a name="line.275"></a>
<FONT color="green">276</FONT>       public static enum AnimationStates<a name="line.276"></a>
<FONT color="green">277</FONT>       {<a name="line.277"></a>
<FONT color="green">278</FONT>          Running,<a name="line.278"></a>
<FONT color="green">279</FONT>          Paused,<a name="line.279"></a>
<FONT color="green">280</FONT>          Stopped,<a name="line.280"></a>
<FONT color="green">281</FONT>       }<a name="line.281"></a>
<FONT color="green">282</FONT>    <a name="line.282"></a>
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